WO2014064831A1 - Dispositif d'assistance à la conduite et procédé d'assistance à la conduite - Google Patents

Dispositif d'assistance à la conduite et procédé d'assistance à la conduite Download PDF

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Publication number
WO2014064831A1
WO2014064831A1 PCT/JP2012/077712 JP2012077712W WO2014064831A1 WO 2014064831 A1 WO2014064831 A1 WO 2014064831A1 JP 2012077712 W JP2012077712 W JP 2012077712W WO 2014064831 A1 WO2014064831 A1 WO 2014064831A1
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WIPO (PCT)
Prior art keywords
vehicle
time
collision
relative
steering
Prior art date
Application number
PCT/JP2012/077712
Other languages
English (en)
Japanese (ja)
Inventor
敏宣 沖田
Original Assignee
トヨタ自動車 株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by トヨタ自動車 株式会社 filed Critical トヨタ自動車 株式会社
Priority to EP12887126.6A priority Critical patent/EP2913811B1/fr
Priority to CN201280076566.1A priority patent/CN104781866B/zh
Priority to BR112015009456-2A priority patent/BR112015009456B1/pt
Priority to MYPI2015701242A priority patent/MY173922A/en
Priority to KR1020157010382A priority patent/KR101759804B1/ko
Priority to US14/438,026 priority patent/US9682703B2/en
Priority to JP2014543098A priority patent/JP6036839B2/ja
Priority to PCT/JP2012/077712 priority patent/WO2014064831A1/fr
Priority to RU2015115697/11A priority patent/RU2605812C2/ru
Publication of WO2014064831A1 publication Critical patent/WO2014064831A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a driving support apparatus and a driving support method that perform driving support that avoids a collision between a vehicle and an object.
  • the above-described driving support device is configured to display the relative state of an object, such as a parked vehicle, a preceding vehicle, and an oncoming vehicle, which is present in the vehicle traveling direction and requires deceleration control of the vehicle, with respect to the host vehicle.
  • an object such as a parked vehicle, a preceding vehicle, and an oncoming vehicle, which is present in the vehicle traveling direction and requires deceleration control of the vehicle, with respect to the host vehicle.
  • in-vehicle sensors such as radar.
  • driving assistance such as an alarm sound and intervention braking is performed.
  • Patent Document 1 Conventionally, as an example of a driving support apparatus, an apparatus described in Patent Document 1 is known.
  • the rear-end collision warning device described in Patent Literature 1 determines whether or not the preceding vehicle is changing lanes, and alarm generation means for issuing an alarm when the collision margin time between the host vehicle and the preceding vehicle is less than or equal to the threshold value.
  • the vehicle includes a preceding lane change determining unit and a timing adjusting unit that delays the timing of an alarm issued by the alarm generating unit when it is determined that the preceding vehicle is changing the lane.
  • the preceding lane change determining unit obtains a lap rate that represents a ratio of the own vehicle and the preceding vehicle overlapping in the vehicle width direction and an acceleration of the own vehicle, and the preceding vehicle changes the lane based on these values and threshold values. It is determined whether it is going.
  • the timing adjusting unit sets the threshold value to be compared with the collision margin time to a value smaller than a normal value. This is because if the lap rate is less than the threshold and the acceleration of the host vehicle is greater than or equal to the threshold, the driver consciously moves the preceding vehicle in order to overtake the preceding vehicle that is changing lanes to the adjacent lane. This is because the danger of a collision is lower than the approach during normal driving, and the timing for issuing an alarm can be delayed.
  • the lap rate between the host vehicle and the preceding vehicle may change due to a change in the lane shape such as a road shape such as a curved road or an increase or decrease in the lane.
  • a change in the lane shape such as a road shape such as a curved road or an increase or decrease in the lane.
  • the management of the driving assistance is also ambiguous, and there is a possibility that the driver's discomfort cannot be eased.
  • the present invention has been made in view of such circumstances, and its purpose is to more appropriately manage the necessity of driving assistance related to collision avoidance and effectively suppress the activation of unnecessary driving assistance.
  • An object of the present invention is to provide a driving support device and a driving support method.
  • the driving support device causes the vehicle to collide with the object based on a collision time which is a time required for the vehicle and the object existing in the traveling direction of the vehicle to collide.
  • a driving assistance device that performs driving assistance for avoiding a lateral change detection that detects a relative temporal change amount between the vehicle and the object in a lateral direction orthogonal to a traveling direction of the vehicle.
  • a first storage unit that stores a steering time that is a time required for the vehicle to avoid the object by steering, and a relative temporal change in the detected lateral direction.
  • a second storage unit that stores an activation threshold value that is a threshold value for determining the activation of the driving support based on the above, and a relative temporal direction in the detected lateral direction when the collision time is equal to or greater than the steering time. Before the amount of change exceeds the trigger threshold And a suppressing support management unit the activation of the driving support.
  • the driving support method causes the vehicle to collide with the object based on a collision time which is a time required for the vehicle and the object existing in the traveling direction of the vehicle to collide.
  • a driving assistance method for performing driving assistance for avoiding a lateral change detection for detecting a relative temporal change amount between the vehicle and the object in a lateral direction orthogonal to a traveling direction of the vehicle.
  • a steering time which is a time required for the vehicle to avoid the object by steering, and a detected amount of change with time in the lateral direction.
  • an activation threshold which is a threshold for determining the activation of driving assistance
  • the detected amount of change over time in the lateral direction when the collision time is equal to or greater than the steering time is equal to or greater than the activation threshold Invoking the driving assistance Suppress and a support management process.
  • whether or not to suppress driving assistance related to collision avoidance is determined based on the amount of change over time in the lateral direction of the object.
  • driving assistance related to collision avoidance if the relative position of the object with respect to the vehicle departs from the traveling direction of the vehicle in the lateral direction, the possibility of collision between the vehicle and the object is reduced, so it is necessary to activate driving assistance. Lower. Therefore, by comparing the relative change over time of the object and the activation threshold, when the relative change over time of the object is greater than the activation threshold and the possibility of collision is low, driving assistance related to collision avoidance Suppresses the activation of. As a result, driving assistance is suppressed when the driver thinks that assistance is unnecessary, such as when the driver is performing an avoidance operation by steering, or when the preceding vehicle is changing lanes, making the driver feel bothersome The fear is reduced.
  • the relative amount of change over time in the lateral direction is used to determine whether or not to suppress driving assistance related to collision avoidance, the preceding vehicle and the vehicle traveling on the same road are curved or the like. Even if the lateral position shifts, the amount of relative temporal change in the lateral direction is small. If the lateral position of the preceding vehicle and the vehicle shifts due to lane changes, the amount of relative temporal change in the lateral direction is large. For this reason, it is possible to suitably distinguish lane change from curves and the like.
  • the lateral change detection unit is configured to calculate a relative temporal change amount between the vehicle and the object in the lateral direction at a relative moving speed of the object in the lateral direction. Detect a relative lateral velocity.
  • the change with time of the vehicle and the object is detected based on the relative lateral velocity. It can be estimated that the object does not leave from the traveling direction of the vehicle if the relative lateral speed is low, and that the object leaves if the relative lateral speed is high. Because the relative lateral speed is within the predetermined range due to the influence of the road shape between the vehicle running on the same road and the preceding vehicle, the change due to the road shape such as a curve and the change due to the lane change It will also be possible to distinguish appropriately.
  • the driving support device further includes a braking time acquisition unit that acquires a braking time, which is a time required for the vehicle to avoid a collision by braking, and the support management unit includes the collision time equal to or longer than the steering time.
  • a braking time acquisition unit that acquires a braking time, which is a time required for the vehicle to avoid a collision by braking
  • the support management unit includes the collision time equal to or longer than the steering time.
  • the braking time acquisition unit obtains the braking time based on a relative speed between the vehicle and the object.
  • an appropriate braking time can be obtained because the braking time greatly affected by the relative speed is obtained based on the relative speed.
  • Such a braking time can be selected from a table or a map determined so as to be associated with the relative speed, or can be calculated by applying the relative speed to a predetermined function.
  • the support management unit adjusts a period during which the driving support is suppressed based on a relative amount of change over time detected by the lateral change detection unit.
  • the period during which the driving assistance is suppressed is adjusted based on the amount of change over time in the lateral direction. Thereby, the suppression period which suppresses driving assistance comes to be adjusted appropriately.
  • the suppressed period is adjusted to be longer as the relative change over time detected by the lateral change detection unit is larger. According to such a configuration, if the amount of change with time in the lateral direction is large, the possibility that the object will leave the course of the vehicle increases. For this reason, when the possibility of separation is high, the possibility of driving assistance that makes the driver feel bothersome can be reduced by lengthening the suppression period.
  • the vehicle includes a yaw rate sensor that detects a speed at which the rotation angle changes in the turning direction of the vehicle, and the lateral change detection unit is configured to change the rotation angle based on the detected speed at which the rotation angle changes. The relative change over time of the detected object is corrected.
  • the relative change over time in the lateral direction is corrected based on the traveling direction (orientation) of the vehicle that changes due to a steering operation or the like.
  • the responsiveness required for detecting the amount of change with time in the lateral direction of the object is improved.
  • the relative change over time of an object detected based on a radar or the like having low responsiveness compared to a sensor that measures the vehicle state is naturally low in responsiveness. Therefore, by using together the measurement result of a sensor that measures the vehicle state such as a yaw rate sensor having high responsiveness, the responsiveness of the relative temporal change amount of the object can be increased.
  • the support management unit includes: When determining whether to suppress the driving assistance, the steering time, which is a measure of the collision time, is replaced with a time obtained according to the position where the object enters the target area.
  • the turning characteristic of the vehicle is taken into consideration, and the steering time compared with the collision time is replaced with the time obtained according to the position where the target object enters the target region.
  • the replacement time is the longest at the center of the vehicle width of the vehicle, for example, the steering time, and becomes shorter as the distance from the center of the vehicle is increased. In this way, driving assistance related to collision avoidance is appropriately postponed.
  • collision avoidance with the object is closer when the object is at a position away from the center than when the object is at the center of the vehicle width. It becomes possible to the state.
  • the driving assistance of the vehicle with respect to the object at a position deviating from the center of the vehicle width can be suppressed by the relative lateral speed until the object is closer to the object at the center of the vehicle width.
  • a relative lateral acceleration that is a relative acceleration when the object moves in the lateral direction with respect to the vehicle is also used as a relative temporal change amount detected by the lateral change detection unit.
  • the amount of change with time can be detected more quickly, and a determination as to whether or not to suppress driving support is made more suitably.
  • the block diagram which shows the schematic structure about 1st Embodiment which actualized the driving assistance device.
  • the schematic diagram which shows typically the relationship between the vehicle carrying the driving assistance device shown in FIG. 1, and a preceding vehicle.
  • the top view which shows the example which the driving assistance apparatus shown in FIG. 1 detects a relative lateral speed.
  • the top view which shows the example which the driving assistance apparatus shown in FIG. 1 detects a relative lateral speed.
  • region which consists of the collision time (TTC) and relative velocity (Vr) which are used with the driving assistance device shown in FIG.
  • the graph which shows the example of a setting of the time (T1) which can avoid the collision by steering in the driving assistance device shown in FIG.
  • FIG. 6 is a relationship diagram illustrating a relationship between the graph illustrated in FIG. 5 and a vehicle and a region ahead in the traveling direction.
  • FIG. 6 is a relationship diagram illustrating a relationship between the graph illustrated in FIG. 5 and a vehicle and a region ahead in the traveling direction.
  • the graph shown in FIG. 5 it is a figure which shows the relationship between the determination area
  • region of (b) is a schematic diagram which shows the corresponding position of braking time (Lb) and turning time (Ls) ahead of the advancing direction of a vehicle.
  • the block diagram which shows the schematic structure about 2nd Embodiment which actualized the driving assistance device. In the driving support device shown in FIG.
  • FIG. 11 it is a figure which shows the relationship between the determination area
  • FIG. 13 is a relationship diagram illustrating a relationship between the graph illustrated in FIG. 12 and a vehicle and a region ahead in the traveling direction.
  • FIG. 13 is a relationship diagram illustrating a relationship between the graph illustrated in FIG. 12 and a vehicle and a region ahead in the traveling direction.
  • FIG. 13 is a relationship diagram illustrating a relationship between the graph illustrated in FIG. 12 and a vehicle and a region ahead in the traveling direction.
  • the list which shows the setting of the magnitude
  • surface which shows the example of the relative lateral speed detected with the driving assistance apparatus corresponding to FIG. 15 with a table
  • the vehicle 10 to which the driving support device and the driving support method are applied has a driving support unit 11 that provides various driving support to the vehicle 10. Further, the vehicle 10 includes an HMI (Human Machine Interface) 12 that notifies the driver of the content of driving assistance, and an intervention control device 13 that assists the vehicle operation.
  • the driving support unit 11 is connected to the HMI 12 and the intervention control device 13 so that various types of information can be transmitted.
  • the driving support unit 11 detects a target object such as a moving body or a stationary object that is a target of avoidance of collision avoidance support, and activates collision avoidance support for the detected target object.
  • the collision avoidance assistance is driving assistance activated by the vehicle 10 to avoid collision with an object such as a pre-crash system (PCS), and is driving assistance related to collision avoidance.
  • Examples of the moving body detected by the driving support unit 11 include a preceding vehicle 60, an oncoming vehicle, and a pedestrian, and examples of the stationary object include a parked vehicle, a utility pole, and a guardrail.
  • the object is described as being the preceding vehicle 60 for convenience of explanation, but the object is not limited to the preceding vehicle 60.
  • the driving assistance in relation to collision avoidance means that a warning instruction signal for instructing driving assistance is output from the driving assistance unit 11 to the HMI 12 or an intervention control signal for instructing driving intervention from the driving assistance unit 11 to the intervention control device 13. Is output.
  • the activation of driving assistance related to collision avoidance can be grasped from driving assistance related to collision avoidance output from the HMI 12 or the intervention control device 13.
  • the vehicle 10 includes an out-of-vehicle information acquisition unit 15 that acquires out-of-vehicle information around the vehicle 10 and a vehicle information acquisition unit 18 that acquires various types of information of the vehicle 10 as vehicle information.
  • the outside information acquisition unit 15 and the vehicle information acquisition unit 18 are connected to the driving support unit 11 so that various types of information can be transmitted.
  • the outside information acquisition unit 15 is mounted on the vehicle 10.
  • the outside information acquisition unit 15 includes an in-vehicle camera 151 that captures the surrounding environment of the vehicle 10 including the preceding vehicle 60 and the like, and a millimeter wave radar 152 that detects an object existing around the vehicle 10 including the preceding vehicle 60 and the like. ing.
  • the outside information acquisition unit 15 includes a communication device 153 having a function of performing wireless communication with a communication device or the like outside the vehicle.
  • the in-vehicle camera 151 images a predetermined range in front of the vehicle 10 with a CCD camera or the like installed on the back side of the rearview mirror.
  • the in-vehicle camera 151 outputs an image signal based on the captured image to the driving support unit 11.
  • the millimeter wave radar 152 for example, a distance measuring function for measuring a distance between the preceding vehicle 60 as an object existing in the traveling direction of the vehicle 10 and the vehicle 10, for example, an inter-vehicle distance L (see FIG. 2), It has a speed measurement function for measuring the relative speed Vr (see FIG. 2) between the preceding vehicle 60 and the vehicle 10.
  • the millimeter wave radar 152 detects the preceding vehicle 60 existing in the traveling direction of the vehicle 10
  • the millimeter wave radar 152 outputs a signal including information on the detected preceding vehicle 60 to the driving support unit 11.
  • the communication device 153 acquires information indicating the speed and position of the other vehicle through inter-vehicle communication with other vehicles including the preceding vehicle 60 existing around the vehicle 10, for example.
  • the communication device 153 outputs the acquired information to the driving support unit 11.
  • the communication device 153 performs road-to-vehicle communication with an optical beacon antenna provided as a road facility.
  • the communication device 153 acquires an infrastructure information signal related to road facilities and the like through road-to-vehicle communication with the optical beacon antenna.
  • the communication device 153 receives the infrastructure information signal, the communication device 153 outputs the received infrastructure information signal to the driving support unit 11.
  • the infrastructure information signal includes, for example, the distance to the intersection, the signal cycle of the traffic signal provided at the intersection, the road alignment, and the road condition of the road where the optical beacon antenna is provided (intersection shape, curvature, gradient, lane) Including numbers).
  • the infrastructure information signal includes accompanying information associated with the road and information on moving bodies such as other vehicles around the intersection detected by the ground equipment or the like.
  • the vehicle outside information output from the vehicle outside information acquisition unit 15 includes various information such as information that can determine the type of the object.
  • the vehicle information acquisition unit 18 is mounted on the vehicle 10.
  • the vehicle information acquisition unit 18 includes a speed sensor 181, an acceleration sensor 182, a yaw rate sensor 183, an accelerator sensor 184, a brake sensor 185, and a steering sensor 186.
  • the speed sensor 181 detects the rotational speed of the wheels of the vehicle 10 and outputs a signal corresponding to the detected rotational speed to the driving support unit 11.
  • the acceleration sensor 182 detects the acceleration of the vehicle 10 and outputs a signal corresponding to the detected acceleration to the driving support unit 11.
  • the yaw rate sensor 183 detects the speed at which the rotation angle of the vehicle 10 in the turning direction changes, and outputs a signal corresponding to the detected yaw rate to the driving support unit 11.
  • the accelerator sensor 184 detects whether the driver has operated the accelerator pedal and the amount of pedal depression, and outputs a signal corresponding to the detected operation presence and pedal depression amount to the driving support unit 11.
  • the brake sensor 185 detects whether or not the driver has operated the brake pedal and the pedal depression amount, and outputs a signal corresponding to the detected operation and depression amount to the driving support unit 11.
  • the steering sensor 186 detects the steering operation amount (steering angle) by the driver and outputs a signal corresponding to the detected operation amount (steering angle) to the driving support unit 11.
  • the HMI 12 is a device that outputs images and sounds that can be recognized by the driver.
  • the image can include at least one of a still image and a moving image, and the sound can include at least one of a simple sound such as an alarm sound and a guidance sound.
  • the HMI 12 includes, for example, at least one of an audio device, a navigation system monitor, a meter panel, a head-up display, and the like. Further, the HMI 12 may be composed of only a screen, only a speaker, or only a buzzer.
  • the HMI 12 When the warning instruction signal is input from the driving support unit 11, the HMI 12 outputs the content corresponding to the input warning instruction signal as information that can be recognized by the driver.
  • the HMI 12 performs driving support such as deceleration control and steering control by outputting information that can be recognized by the driver based on the warning instruction signal.
  • Deceleration control includes notifying that the distance L between vehicles has become shorter or that a person is present in the forward direction by sound or display. As the steering control, a lane departure warning is notified by sound or display.
  • the intervention control device 13 is a device that performs assistance (support) for at least one of braking, steering, and the like of the vehicle 10, and receives an intervention control signal from the driving support unit 11 and inputs the intervention control. Assist braking and steering based on the signal.
  • the intervention control device 13 includes, for example, various control devices such as a brake control device that controls the brake actuator of the vehicle 10, an engine control device that controls the engine, and a steering control device that controls the steering actuator.
  • the intervention control device 13 performs deceleration control and steering control based on the intervention control signal input from the driving support unit 11.
  • deceleration control include suppression of engine speed, stop of fuel supply to the engine (fuel cut), brake assist control, pre-crash brake control, and the like.
  • the speed of the vehicle 10 can be reduced by controlling a brake control device or the like.
  • Such deceleration control secures the inter-vehicle distance and maintains an appropriate speed.
  • Steering control includes lane keeping assist (LKA) that prevents the vehicle 10 from deviating from the recognized lane.
  • LKA lane keeping assist
  • the driving support unit 11 performs collision avoidance support as driving support related to collision avoidance with respect to an object to be avoided by the vehicle 10.
  • the driving support unit 11 includes an object specifying unit 14 that specifies an object to be avoided, a relative information calculating unit 20 that calculates relative information between the vehicle 10 and the preceding vehicle 60, and a collision used for collision avoidance support.
  • a collision time calculation unit 30 for calculating the time Ta is provided.
  • the driving support unit 11 also includes a first storage unit that stores various types of information used for collision avoidance support and the storage unit 40 as a second storage unit, and support management that determines whether or not to activate collision avoidance support. Part 50.
  • the driving support unit 11 includes a microcomputer having a computing device (CPU) and a nonvolatile or volatile storage device such as a ROM or a RAM.
  • the nonvolatile storage device of the driving support unit 11 holds a control program for performing various processes and various parameters used for the various processes.
  • the arithmetic device executes a control program held in the storage device as necessary, and refers to various parameters as necessary during execution of the control program.
  • the control program is a program for specifying an object, a program for calculating relative information, a program for calculating a collision time, and a program for determining whether to activate collision avoidance support. Including. These programs may be held in the driving support unit 11 as individual programs and executed separately from the programs.
  • the various parameters include various parameters used for specifying an object, calculating relative information, calculating a collision time, and determining whether to activate collision avoidance support.
  • the function of the object specifying unit 14 the function of the relative information calculation unit 20, the function of the collision time calculation unit 30, and the function of the support management unit 50 are executed by executing the control program. And is demonstrated.
  • the object specifying unit 14 detects an object including the preceding vehicle 60 existing in the traveling direction of the vehicle 10 based on the outside information input from the outside information acquisition unit 15. Among the detected objects, the preceding vehicle 60 to be avoided by the collision avoidance support is specified.
  • the relative information calculation unit 20 calculates relative information between the vehicle 10 and the preceding vehicle 60 existing ahead in the traveling direction of the vehicle 10.
  • the relative information calculation unit 20 calculates the inter-vehicle distance L between the vehicle 10 and the preceding vehicle 60 based on the out-of-vehicle information input from the out-of-vehicle information acquisition unit 15, and uses the calculated inter-vehicle distance L as the collision time calculation unit 30 or Output to the support manager 50.
  • the relative information calculation unit 20 is a speed calculation unit 21 that calculates a relative speed Vr that is relative information between the vehicle 10 and the preceding vehicle 60, and a braking time acquisition unit that calculates a braking time Tb.
  • a time calculation unit 22 and a lateral change amount calculation unit 23 as a lateral change detection unit that calculates a relative lateral speed Vy that is a relative movement speed are provided.
  • the relative information calculation unit 20 outputs the calculated relative speed Vr, braking time Tb, and relative lateral speed Vy to the collision time calculation unit 30 and the support management unit 50.
  • the braking time calculation unit 22 calculates a braking time Tb corresponding to the relative speed Vr between the vehicle 10 and the preceding vehicle 60.
  • the braking time Tb is a value that can be calculated based on the characteristics related to braking of the vehicle 10 and the relative speed Vr, and a collision between the vehicle 10 and the preceding vehicle 60 can be avoided by the general driver of the vehicle 10 by braking. For example, the lower limit of time. Since the braking time Tb changes according to the relative speed Vr, a short braking time is selected for each relative speed Vr in the distribution of sample data of a plurality of braking times obtained for each relative speed Vr.
  • the braking time Tb may be calculated by various calculations such as a calculation that takes into account the relative acceleration, or may be obtained based on experience, experimental data, simulation, or the like.
  • the braking time Tb may be obtained by selecting from a table or a map determined so as to be associated with the relative speed Vr, or may be calculated by applying the relative speed Vr to a predetermined function.
  • the lateral change amount calculation unit 23 calculates a relative lateral speed Vy between the vehicle 10 and the preceding vehicle 60 (lateral change detection step).
  • the relative lateral speed Vy is a relative speed in the lateral direction orthogonal to the traveling direction of the vehicle 10. For example, when only the vehicle 10 changes the direction of travel (turns), the relative lateral speed Vy is obtained based on the lateral speed component of the speed of the vehicle 10.
  • the lateral component of the traveling direction speed component V2x and the lateral direction speed component V2y of the vehicle 10 constituting the speed V2 of the preceding vehicle 60 A relative lateral velocity Vy is obtained based on the velocity component V2y in the direction.
  • the lateral change amount calculation unit 23 can also calculate the relative lateral velocity Vy between the vehicle 10 and the guard rail 61.
  • the speed V1 of the vehicle 10 is composed of a speed component V1x toward the front of the vehicle and a speed component V1y in the lateral direction orthogonal to the front of the vehicle. That is, when the vehicle 10 is used as a reference, the guard rail 61, which is a stationary object, moves in the reverse direction with the velocity component V1y in the lateral direction of the vehicle 10. That is, the relative lateral velocity Vy between the vehicle 10 and the guard rail 61 is obtained based on the velocity component V1y in the lateral direction of the vehicle 10.
  • the collision time calculation unit 30 receives relative information of the vehicle 10 and the preceding vehicle 60 from the relative information calculation unit 20.
  • the collision time calculation unit 30 includes a TTC calculation unit 31 that calculates a collision time Ta, so-called TTC (Time To Collision).
  • TTC Time To Collision
  • the collision time Ta is a time required for the vehicle 10 to collide with the preceding vehicle 60.
  • the collision time calculation unit 30 outputs the calculated collision time (TTC) Ta to the support management unit 50.
  • the TTC calculation unit 31 calculates the collision time Ta of the vehicle 10 with respect to the preceding vehicle 60.
  • the TTC calculation unit 31 obtains the inter-vehicle distance L and the relative speed Vr between the vehicle 10 and the preceding vehicle 60 from the relative information calculation unit 20.
  • the collision time (TTC) Ta is calculated based on the following equation (1).
  • TTC L / Vr (1)
  • the method for calculating the collision time (TTC) is not limited to the equation (1), and other methods such as a method that takes into account the relative acceleration may be used as long as an appropriate collision time can be obtained. Good.
  • the storage unit 40 includes a steering time T1 that is a time required to avoid a collision by turning through steering, a suppression period 41 that is a period for suppressing collision avoidance support, and a collision avoidance support.
  • the activation threshold value TH1 is recorded as a threshold value used when determining whether or not to suppress the above.
  • the steering time T1 is a constant time regardless of the value of the relative speed Vr. For example, the time that a general driver can avoid by steering, the lower limit value of the time that can be avoided by normal steering, etc. Is set to
  • the steering time T1 is selected as a short steering time in the distribution of sample data of a plurality of steering times. It may also be obtained on the basis of simulation or the like.
  • the suppression period 41 is a period in which the activation of the collision avoidance support is suppressed (temporarily stopped), and is set by a time such as 1 to 10 calculation cycles.
  • the suppression period 41 may be calculated by various calculations or the like, or may be obtained based on experience, experimental data, simulation, or the like.
  • the activation threshold value TH1 is a threshold value that is compared with the relative lateral velocity Vy when determining whether to suppress the collision avoidance support.
  • the activation threshold value TH1 may be any as long as it can be estimated that steering is performed to the extent that the collision between the vehicle 10 and the preceding vehicle 60 can be suppressed.
  • the activation threshold TH1 may be calculated by various calculations or the like, or may be obtained based on experience, experimental data, simulation, or the like.
  • the driving support unit 11 determines that the collision avoidance support is to be suppressed when the relative lateral speed Vy is equal to or greater than the activation threshold TH1, and must not suppress the collision avoidance support when the relative lateral speed Vy is less than the activation threshold TH1. To be judged.
  • the support management unit 50 determines whether or not to perform collision avoidance support based on the collision time Ta and the relative speed Vr (support management process).
  • the support management unit 50 includes an estimation unit 51 that determines whether to activate collision avoidance support, and an adjustment unit 52 that determines whether to suppress the activation of collision avoidance support.
  • a two-dimensional region having a collision time (TTC) as a vertical axis and a relative velocity Vr as a horizontal axis is defined as a determination region.
  • the determination area defined by the estimation unit 51 further defines an area where collision avoidance support is activated, an area where collision avoidance support is not activated, and the like.
  • a braking boundary line Lb based on a braking time Tb determined according to the relative speed Vr between the vehicle 10 and the preceding vehicle 60 is provided in the determination region.
  • the braking boundary line Lb is a line expressed by the following equation (2), and is shown as a line rising from the origin to the upper right in the determination region.
  • ⁇ is a value determined based on the braking characteristics of the vehicle.
  • a steering boundary line Ls based on the steering time T1 determined regardless of the relative speed Vr between the vehicle 10 and the preceding vehicle 60 is provided in the determination region.
  • the steering boundary line Ls is a line expressed by the following equation (3), and is shown in the determination region as a line where the collision time (TTC) is a constant value, that is, a line orthogonal to the vertical axis.
  • TTC ⁇ ⁇ Vr (2)
  • TTC T1 (3)
  • the calculation method is not limited to the above formulas (2) and (3). . That is, the braking boundary line Lb and the steering boundary line Ls may be stored in advance in the storage unit 40 as data such as a map.
  • the determination area is divided into four by the braking boundary line Lb and the steering boundary line Ls.
  • the collision time (TTC) is a first area A1 where the collision boundary line Lb is equal to or greater than the braking boundary line Lb and equal to or greater than the steering boundary line Ls, and a second area where the collision time (TTC) is less than the braking boundary line Lb and equal to or greater than the steering boundary line Ls.
  • the determination area includes a third area A3 in which the collision time (TTC) is greater than or equal to the braking boundary line Lb and less than the steering boundary line Ls, and a fourth area in which the collision time period (TTC) is less than the braking boundary line Lb and less than the steering boundary line Ls. It is divided into A4.
  • the first area A1 is an area in which a collision of the vehicle 10 with the preceding vehicle 60 can be avoided by braking or steering, and an area where collision avoidance assistance is unnecessary.
  • the second region A2 is a region where it is difficult to avoid a collision of the vehicle 10 with the preceding vehicle 60 by braking, but can be avoided by steering. At least when a steering operation is not performed, collision avoidance support is provided. Is a necessary area.
  • the third region A3 is a region in which the collision of the vehicle 10 with the preceding vehicle 60 can be avoided by braking, but is difficult to avoid by steering, and the collision is avoided by the low relative speed or braking. Therefore, it is an area where it is not necessary to perform collision avoidance support.
  • the fourth area A4 is an area where it is difficult to avoid a collision of the vehicle 10 with the preceding vehicle 60 by either braking or steering, and collision avoidance assistance is essential.
  • the fourth area A4 is further partitioned by a warning line Le indicating a warning time T2 that is shorter than the steering time T1.
  • region A41 which performs weak collision avoidance assistance is divided.
  • a high support region A42 that performs strong collision avoidance support is defined.
  • the driving assistance unit 11 When the relationship between the collision time Ta and the relative speed Vr corresponds to the low assistance area A41 or the high assistance area A42, the driving assistance unit 11 performs collision avoidance assistance that is not suppressed on the vehicle 10. For example, in the low support area A41, an alarm through the HMI 12 is notified, or assist brake control for increasing the braking force is performed. In the high support area A42, an alarm is notified through the HMI 12, and deceleration control, steering control, or the like is performed through the intervention control device 13.
  • FIG. 8 shows a position corresponding to the braking time Tb set in front of the traveling direction of the vehicle 10 and a position corresponding to the steering time T1 when the relative speed Vr is equal to or higher than the speed R1.
  • a position corresponding to the steering time T1 that is, the steering boundary line Ls is first set in front of the traveling direction of the vehicle 10, and the vehicle 10 and the steering boundary line An area As that is difficult to avoid collision by steering is set between Ls.
  • the braking time Tb that is, the position corresponding to the braking boundary line Lb is set before the position corresponding to the steering boundary line Ls.
  • An area Ab in which collision avoidance by braking is difficult is set between them.
  • the area As corresponds to the fourth area A4
  • the area Ab corresponds to the second area A2.
  • FIG. 9 shows a position corresponding to the braking time Tb set in front of the traveling direction of the vehicle 10 and a position corresponding to the steering time T1 when the relative speed Vr is less than the speed R1.
  • a position corresponding to the braking time Tb that is, the braking boundary line Lb is first set in front of the traveling direction of the vehicle 10, and the vehicle 10 and the braking boundary line are set.
  • An area Ab in which collision avoidance by braking is difficult is set between Lb.
  • a steering time T1 that is, a position corresponding to the steering boundary line Ls is set ahead of the position corresponding to the braking boundary line Lb in the forward direction of the vehicle 10, and the position between the vehicle 10 and the steering boundary line Ls is set.
  • An area As that is difficult to avoid collision by steering is set between them.
  • the area Ab corresponds to the fourth area A4, and the area As corresponds to the third area A3.
  • the estimation unit 51 identifies the determination position P1 based on the current collision time Ta and the relative speed Vr within the determination region. Then, when the determination position P1 is in the first area A1 or in the third area A3, the estimation unit 51 determines “no collision avoidance support is activated”. In addition, when the determination position P1 is in the fourth area A4, the estimation unit 51 determines that “collision avoidance support is to be activated”, and weakly avoids collision when the determination position P1 is in the low support area A41. It is determined that support is to be performed, and when the vehicle is in the high support area A42, it is determined that strong collision avoidance support is to be performed.
  • the estimation unit 51 determines that “the condition for invoking the collision avoidance support is satisfied” and the determination position P1 is in the second area A2. It is determined that it is in A2. Then, the estimation unit 51 outputs the determination result to the adjustment unit 52.
  • the adjustment unit 52 does not perform the collision avoidance support when the determination result input from the estimation unit 51 is “not to activate the collision avoidance support”. In other words, the necessity of collision avoidance support is appropriately determined, and therefore collision avoidance support is not performed when the possibility of collision (collision risk) is low.
  • the adjusting unit 52 causes the collision avoidance support to be implemented when the determination result input from the estimating unit 51 is “to activate the collision avoidance support”. That is, the adjustment unit 52 outputs an alarm instruction signal to the HMI 12 as necessary, and outputs an intervention control signal to the intervention control device 13. In other words, since the necessity of the collision avoidance support is appropriately determined, the collision avoidance support is performed when the possibility of collision is high.
  • the adjustment unit 52 and the relative lateral speed Vy between the vehicle 10 and the preceding vehicle 60 and the activation Based on the comparison with the threshold value TH1 (see FIG. 7), it is determined whether or not the collision avoidance support is to be suppressed.
  • the adjusting unit 52 determines that the collision avoidance support is not suppressed because the collision possibility is high when the relative lateral velocity Vy is less than the activation threshold TH1, and activates the collision avoidance support. At this time, the adjustment unit 52 performs weak collision avoidance support. That is, the adjustment unit 52 outputs an alarm instruction signal to the HMI 12 and outputs an intervention control signal to the intervention control device 13 as necessary. In other words, the necessity of collision avoidance support is appropriately determined, and when the possibility of collision is high, collision avoidance support is implemented.
  • the adjustment unit 52 determines that the collision avoidance support is suppressed because the possibility of collision is temporarily low. Regardless of the determination result of the estimation unit 51, the adjustment unit 52 does not activate the collision avoidance support during the period set in the suppression period 41. That is, the activation of the collision avoidance support is suppressed, the warning instruction signal is not output to the HMI 12, and the intervention control signal is not output to the intervention control device 13. In other words, when the necessity of collision avoidance support is properly determined and the possibility of collision is low, collision avoidance support is not performed.
  • the adjustment unit 52 suppresses collision avoidance support based on the relative lateral speed Vy obtained from the lateral speed component V2y generated by the preceding vehicle 60 by turning through steering. You can determine whether you need it. Further, as shown in FIG. 4, even if steering is performed in the vehicle 10, the vehicle 10 is likely to approach the guard rail 61, and the collision time (TTC) may be easily shortened. At this time, the adjusting unit 52 determines whether the collision possibility to the guard rail 61 is high or low based on the relative lateral velocity Vy between the vehicle 10 and the guard rail 61, and it is necessary to suppress the collision avoidance support. Determine whether or not.
  • the operation of the driving support unit 11 will be described in detail when the determination position P1 is in the second region A2 of the determination region.
  • the determination position P1 when the determination position P1 is in the second region A2 of the determination region, it is difficult for the vehicle 10 to avoid a collision with the preceding vehicle 60 by braking. Can be avoided by steering. From this, the vehicle 10 whose determination position P1 is in the second region A2 has a high possibility of a collision with the preceding vehicle 60 when the steering operation is not performed, while when the steering operation is performed, The possibility of collision with the car 60 is low. Thus, even if the determination position P1 is the second region A2, the possibility of a collision with the preceding vehicle 60 may be increased or decreased depending on the driving operation state of the vehicle 10.
  • the driving support unit 11 to activate the collision avoidance support.
  • Such appropriate driving assistance can provide an effect of avoiding a collision and reducing damage, and has a low risk of giving the driver a sense of incongruity.
  • the determination position P1 is the second region A2
  • the driving assistance unit 11 may not properly activate the collision avoidance assistance.
  • such inappropriate collision avoidance support may cause the driver to feel bothered or uncomfortable.
  • the determination position P1 is in the second region A2
  • the vehicle 10 is steered, it can be determined based on vehicle information obtained from the steering sensor 186 whether or not the steering amount is an amount required for collision avoidance.
  • the preceding vehicle 60 turns through steering, the same effect as when the vehicle 10 turns is produced. That is, the collision between the vehicle 10 and the preceding vehicle 60 is avoided even when the preceding vehicle 60 leaves the lane or road on which the vehicle 10 travels. That is, it is desirable that it can be appropriately determined whether or not the turn of the preceding vehicle 60 is a turn required to avoid a collision.
  • the present embodiment it is determined whether or not a turn that can avoid a collision between the vehicle 10 and the preceding vehicle 60 is performed using the relative lateral speed Vy between the vehicle 10 and the preceding vehicle 60. Thereby, regardless of whether the vehicle 10 is turning or the preceding vehicle 60 is turning, that is, regardless of whether the vehicle 10 is steered or the preceding vehicle 60 is steered, the collision between the vehicle 10 and the preceding vehicle 60 occurs. It is appropriately determined whether or not a turn that avoids the above is performed.
  • the preceding vehicle 60 does not leave the traveling direction (track) of the vehicle 10, and if the relative lateral speed Vy is large, the preceding vehicle 60 may leave the traveling direction (track) of the vehicle 10. Can be estimated. That is, if the preceding vehicle 60 leaves the traveling direction of the vehicle 10, the possibility of a collision decreases, and if the preceding vehicle 60 does not leave the traveling direction of the vehicle 10, the possibility of a collision increases.
  • the relative lateral speed Vy between the vehicle 10 and the preceding vehicle 60 running on the same road is within a predetermined range due to the influence of the road shape, but tends to be large in the case of a lane change.
  • the activation threshold value TH1 can also be set so that a change due to a road shape such as a curve and a change due to a lane change can be appropriately distinguished.
  • the driving support unit 11 can more appropriately manage the necessity of collision avoidance support, and can effectively suppress unnecessary driving support.
  • the effects listed below can be obtained.
  • the relative lateral speed Vy of the preceding vehicle 60 is compared with the activation threshold value TH1, and when the relative lateral speed Vy of the preceding vehicle 60 is greater than the activation threshold value TH1 and the possibility of a collision is low, the activation of the collision avoidance support is suppressed.
  • the relative lateral speed Vy is used to determine whether or not to suppress the collision avoidance support, the preceding vehicle 60 and the vehicle 10 traveling on the same road are curved and the lateral position is changed. Even if it is deviated, the relative lateral speed Vy is small, and when the lateral position of the preceding vehicle 60 and the vehicle 10 is deviated due to lane change, the relative lateral speed Vy is large. For this reason, it is possible to suitably distinguish lane change from curves and the like.
  • a change with time of the vehicle 10 and the preceding vehicle 60 is detected based on the relative lateral speed Vy. It can be estimated that the preceding vehicle 60 does not leave the traveling direction when the relative lateral speed Vy is small, and leaves when the relative lateral speed Vy is large. Such a relative lateral speed Vy is within a predetermined range due to the influence of the road shape between the vehicle 10 and the preceding vehicle 60 running on the same road, and therefore changes due to road shapes such as curves and changes due to lane changes. Can be properly distinguished.
  • This embodiment differs from the first embodiment in using a target area, which is an area obtained in consideration of the turning characteristics of the vehicle, in determining whether to suppress the occurrence of collision avoidance assistance.
  • a target area which is an area obtained in consideration of the turning characteristics of the vehicle, in determining whether to suppress the occurrence of collision avoidance assistance.
  • the configuration other than that is the same. Therefore, in the following, a configuration different from the first embodiment will be described, and for convenience of description, the same reference numerals are given to the same configuration, and detailed description thereof will be omitted.
  • the relative information calculation unit 20 includes a position determination unit 24 that determines a lateral position in the width direction of the vehicle 10 with respect to the preceding vehicle 60 as an object existing ahead in the traveling direction of the vehicle 10. .
  • the relative information calculation unit 20 outputs the lateral position of the preceding vehicle 60 calculated by the position determination unit 24 to the support management unit 50.
  • the position determination unit 24 determines the lateral position of the preceding vehicle 60 specified by the object specifying unit 14. The lateral position of the preceding vehicle 60 in the width direction of the vehicle 10 is determined based on the outside information regarding the preceding vehicle 60 input from the outside information acquisition unit 15.
  • the position determination unit 24 detects, for example, that the position P2a corresponding to the left rear end of the preceding vehicle 60 exists on the front right side of the vehicle 10.
  • the position P2a is a position set in the front area of the vehicle 10 in consideration of the overlapping position of the vehicle 10 and the preceding vehicle 60, and corresponds to the determination position P2 on the determination area.
  • the target area At shown in FIG. 12B will be described with reference to FIGS.
  • the target region At is a region that is partitioned in consideration of the turning characteristics of the vehicle 10 in front of the traveling direction of the vehicle 10.
  • FIG. 13 illustrates the case where Vr ⁇ R1
  • FIG. 14 illustrates the case where Vr ⁇ R1.
  • the target area At is set in a range defined by the left turning locus line LLt, the right turning locus line LRt, and the front portion of the vehicle 10.
  • the target area At is divided into the right turning locus line LRt and the left turning locus line LLt.
  • it may be set in a region partitioned by the braking boundary line Lb and the front portion of the vehicle 10.
  • the support management unit 50 determines whether to suppress the collision avoidance support. Determine whether.
  • the support management unit 50 estimates the collision time obtained according to the intrusion position as the position where the position P2a enters the target area At.
  • the estimated collision time is the boundary between the second region A2 and the fourth region A4, and is the same as the steering boundary line Ls being moved (replaced) to the estimated collision time.
  • the support management unit 50 estimates the collision time Ta because the intrusion position corresponds to the steering boundary line Ls.
  • the support management unit 50 estimates the minimum collision time “0”.
  • the support management unit 50 sets the time equal to or shorter than the collision time Ta and equal to or longer than the minimum collision time. Estimation, that is, this is the boundary between the second region A2 and the fourth region A4.
  • the support management unit 50 includes an estimation unit 51 that determines whether to activate collision avoidance support, and an adjustment unit 52 that determines whether to suppress the activation of collision avoidance support.
  • the estimation unit 51 is provided on the condition that the determination position P2 is in the fourth region A4 when the steering boundary line Ls in the determination region is replaced with the estimated collision time. That is, it is determined that “collision avoidance support is activated” on the condition that the position P2a is included in the target area At.
  • the estimator 51 replaces the steering boundary line Ls in the determination region with the estimated collision time, on the condition that the determination position P2 is in the second region A2, that is, the position P2a is the target region At. It is determined that “the condition for activating the collision avoidance support is satisfied” on the condition that it is not included in the above. Then, the estimation unit 51 outputs the determination result to the adjustment unit 52.
  • the adjustment unit 52 and the relative lateral speed Vy between the vehicle 10 and the preceding vehicle 60 and the activation Based on the comparison with the threshold value TH1, it is determined whether or not the collision avoidance support is to be suppressed. Thereby, the necessity of the collision avoidance support is appropriately determined, and when the collision possibility is high, the collision avoidance support is activated. On the other hand, when the collision possibility is low, the collision avoidance support is not activated.
  • the present embodiment by replacing the steering boundary line Ls with the estimated collision time, it is possible to determine that the possibility of collision is low if the position P2a of the target object is out of the target area At. Thereby, the case where the possibility of collision is low is more appropriately determined, and when the possibility of collision is low, the collision avoidance support is not performed.
  • the effects listed below can be obtained. become. (6) Time when the turning characteristic of the vehicle 10 is considered and the steering time T1 (steering boundary line Ls) compared with the collision time Ta is obtained according to the intrusion position where the object enters the target area At. Is replaced by The time for replacement is the same as the steering time T1 when the intrusion position is at the center of the vehicle width of the vehicle 10, and becomes shorter than the steering time T1 when the intrusion position is away from the center of the vehicle width. In this way, driving assistance related to collision avoidance is appropriately postponed.
  • the vehicle 10 Since the vehicle 10 has a width, considering the turning characteristics of the vehicle 10, collision avoidance with the object is closer when the object is at a position away from the center than when the object is at the center of the vehicle width. It becomes possible to the state. Therefore, driving assistance of the vehicle 10 with respect to the object located at a position deviating from the center of the vehicle width can be suppressed by the relative lateral speed Vy until the object is closer to the object at the center of the vehicle width. As a result, it is possible to further suppress the activation of driving assistance that makes the driver feel bothersome.
  • This embodiment is different from the first embodiment in that the activation threshold and the level threshold are used, but the other configurations are the same. Therefore, in the following, a configuration different from the first embodiment will be described, and for convenience of description, the same reference numerals are given to the same configuration, and detailed description thereof will be omitted.
  • an activation threshold value TH1 and a level threshold value TH2 that is larger than the activation threshold value TH1 are set.
  • a short period (short period) is set as the period corresponding to the activation threshold TH1
  • a long period (long period) longer than the short period is set as the period corresponding to the level threshold TH2.
  • the reference (unit) used for setting the period may be other than the calculation cycle such as time.
  • the adjustment unit 52 When the relative lateral velocity Vy is equal to or greater than the activation threshold TH1 and less than the level threshold TH2, the adjustment unit 52 temporarily reduces the possibility of collision, and during the short period set in the suppression period 41, Suppress collision avoidance support. Further, when the relative lateral velocity Vy is equal to or higher than the level threshold value TH2, the adjustment unit 52 assumes that the possibility of collision is low for a while and suppresses collision avoidance support for a long period of time set in the suppression period 41. To do.
  • the adjustment unit 52 selects an appropriate suppression period from the suppression period 41 according to the degree of the high possibility of collision estimated from the relative lateral velocity Vy. Then, the adjustment unit 52 does not activate the collision avoidance support during the selected suppression period regardless of the determination result of the estimation unit 51. In other words, the necessity of the collision avoidance support is appropriately determined based on the high possibility of collision, and when the collision possibility is low, the collision avoidance support is not activated.
  • the adjustment unit 52 suppresses the activation of the collision avoidance support for a long period of time, it is possible to reduce the influence of an abnormal value or the like temporarily generated in the relative lateral speed Vy.
  • an abnormal value or the like temporarily generated in the relative lateral speed Vy.
  • the relative lateral velocity Vy varies every calculation cycle. Then, for example, if a relative lateral velocity Vy with a low possibility of collision avoidance is detected, such as 0.1 m / s shown in the fifth calculation cycle, collision avoidance assistance is activated based on the relative lateral velocity Vy. There is also a risk.
  • collision avoidance is performed regardless of the value of the relative lateral velocity Vy calculated for each calculation cycle for a long period selected from the suppression period 41. Suppress the activation of support. For this reason, the influence which abnormality which temporarily arises in relative lateral velocity Vy has on collision avoidance support is reduced. Thereby, unnecessary activation of collision avoidance support is effectively suppressed.
  • the suppression period 41 that is a period for suppressing the activation of the collision avoidance support is adjusted (selected) based on the relative lateral speed Vy. That is, an appropriate suppression period 41 is selected based on the relative lateral speed Vy.
  • this embodiment is a description of a function that corrects the relative lateral velocity that can be included in the configuration of the first embodiment, the configuration other than the configuration related to the function is the same as that of the first embodiment. Therefore, in the following, a configuration different from the first embodiment will be described, and for convenience of description, the same reference numerals are given to the same configuration, and detailed description thereof will be omitted.
  • the information outside the vehicle input from the vehicle information acquisition unit 15 takes a long time to detect information about the object.
  • the vehicle information input from the vehicle information acquisition unit 18 suffices for a short time for detecting information about the vehicle 10, for example, 5 to 1/10 or less of the long time.
  • the lateral change amount calculation unit 23 calculates the relative lateral velocity Vy of the object, reflecting the detected steering information of the vehicle 10. Thereby, the responsiveness of the relative lateral velocity Vy of the object can be increased.
  • the lateral change amount calculation unit 23 determines that the lateral speed component V1y of the vehicle 10 is relative to the target. Correction is made so as to be included in the velocity Vy.
  • the lateral change amount calculation unit 23 quickly increases the relative lateral velocity of the object from the outside information input from the outside information acquisition unit 15. can not get.
  • One of the reasons is that it takes a long time to detect the object by the outside information acquisition unit 15.
  • the lateral change amount calculation unit 23 calculates the relative lateral speed Vy by adding the lateral speed components obtained from the yaw rate of the vehicle 10.
  • the relative lateral velocity Vy of the object can be obtained as a large value, and the necessity of collision avoidance support can be managed more appropriately, and the activation of unnecessary collision avoidance support can be effectively suppressed. It becomes like this.
  • the relative lateral velocity Vy of the object is corrected based on the traveling direction (orientation) of the vehicle that changes due to a steering operation (steering) or the like.
  • the responsiveness for detecting the relative lateral velocity Vy is improved.
  • the responsiveness of the relative lateral velocity Vy can be increased by using together the measurement results of a sensor that measures the vehicle state such as a yaw rate sensor with high responsiveness.
  • each said embodiment can also be implemented with the following aspects. -Each above-mentioned embodiment illustrated about the case where it was each separate composition. However, the present invention is not limited to this, and any two or more configurations of the first to fourth embodiments may be combined. As a result, the degree of freedom of design of the driving assistance device can be improved, and the occurrence of collision avoidance assistance can be more suitably suppressed.
  • the vehicle exterior information acquisition unit 15, the in-vehicle camera 151, the millimeter wave radar 152, and the communication device 153 are configured.
  • the present invention is not limited to this, and the outside information acquisition unit may be configured by at least one of an in-vehicle camera, a millimeter wave radar, and a communication device.
  • the vehicle exterior information acquisition part should just be various sensors which can acquire a relative distance and a relative lateral position with a target object, and may be a sensor which can acquire a relative speed, a relative acceleration, and a relative lateral speed directly.
  • the vehicle information acquisition unit 18 includes the speed sensor 181, the acceleration sensor 182, the yaw rate sensor 183, the accelerator sensor 184, the brake sensor 185, and the steering sensor 186 has been illustrated.
  • the vehicle information acquisition unit may be configured by at least two of an acceleration sensor, a yaw rate sensor, an accelerator sensor, a brake sensor, and a steering sensor including the speed sensor.
  • the relative lateral velocity Vy is a relative change over time used for determining whether or not to suppress the collision avoidance assistance.
  • the present invention is not limited to this, and relative lateral acceleration may be used as a relative temporal change amount used for determining whether or not to suppress the collision avoidance support.
  • the present invention is not limited to this, and the threshold value to be compared with the relative lateral speed may be changed depending on the type of the object.
  • the threshold value to be compared with the relative lateral speed according to the type of the object may be set as Ti1 for the preceding vehicle, Ti2 for the oncoming vehicle, and Ti3 for the stationary object. Further, the threshold value to be compared with the relative lateral velocity is not changed according to the type of the object, and instead, a suppression period may be used.
  • the threshold value to be compared with the relative lateral speed may be changed according to the type of the object, and the suppression period may be changed according to the type of the object.
  • the present invention is not limited to this, and the threshold value to be compared with the relative lateral speed may be changed according to the distance to the object. That is, it is preferable to set a threshold that takes into account the characteristic of the relative lateral speed that is largely detected according to the length of the inter-vehicle distance between the vehicle and the preceding vehicle.
  • the threshold value to be compared with the relative lateral velocity according to the distance to the object may be set as Td1 for short distance, Td2 for medium distance, and Td3 for long distance.
  • the threshold value may be set to have a relationship of Td1 ⁇ Td2 ⁇ Td3.
  • the collision avoidance support is suppressed during the suppression period 41 .
  • the present invention is not limited to this, and the activation of the collision avoidance support may be suppressed to the maximum, that is, prohibited by making the suppression period indefinite.
  • the present invention is not limited to this, and the suppression time, the activation threshold, and the level threshold may be changed according to the vehicle surrounding environment such as the road shape and weather. As a result, the degree of freedom of design for driving support can be improved.
  • the relative lateral velocity Vy is compared with one or two threshold values (the activation threshold value TH1 and the level threshold value TH2) is exemplified.
  • the threshold for comparing the relative lateral speed may be three or more.
  • the length of the suppression period can be set separately for each threshold value.
  • the present invention is not limited to this.
  • the determination position is in the first and second regions, that is, when the position is greater than or equal to the steering boundary line, it may be determined whether or not the collision avoidance assistance is activated.
  • the determination as to whether or not the collision avoidance assistance is to be activated may be made on the condition that the determination position is in the first and second regions. For example, when the speed of the vehicle is high, the relative speed with the preceding vehicle is small, and even if the collision time is long and the distance between the vehicles is extremely short, even if collision avoidance assistance occurs, it does not bother the driver. .
  • the applicability of a driving assistance device can be improved.
  • the case where the driving support unit 11 is provided with the object specifying unit 14, the relative information calculation unit 20, the collision time calculation unit 30, and the support management unit 50 is illustrated.
  • the present invention is not limited to this, and if the information required by the driving support unit can be acquired, some or all of the object specifying unit, the relative information calculating unit, the collision time calculating unit, and the support managing unit are different. It may be processed by the device.
  • the improvement of the freedom degree of composition of a driving support device comes to be aimed at.
  • the driving support device is mounted on the vehicle 10 .
  • the present invention is not limited to this, and in the driving support device, a part of the driving support unit, a part or all of the outside information acquisition unit, and the like may be provided in addition to the vehicle.
  • An external device such as a portable information processing device may be provided with a function that replaces a part of the driving support unit, or a part or all of the function of the outside information acquisition unit.
  • the driving support device only needs to be able to acquire necessary information from the portable information processing device.
  • the portable information processing apparatus is a smartphone
  • various processes may be performed by executing an application program.
  • the smartphone may detect the object based on traffic information that can be acquired via the Internet or the like.
  • the improvement of the freedom degree of composition of a driving support device comes to be aimed at.
  • the driving support device is mounted on the vehicle 10 .
  • the present invention is not limited to this, and the driving support device may be provided in a moving body other than the vehicle, such as a ship or a robot. Thereby, the application range of a driving assistance device can be expanded.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L'invention concerne un dispositif d'assistance à la conduite par lequel une nécessité d'une assistance à la conduite en relation avec l'évitement de collision est gérée de manière appropriée, et une mise en oeuvre inutile d'une assistance à la conduite est réduite efficacement. Un dispositif d'assistance à la conduite effectue une assistance à l'évitement de collision entre un véhicule (10) et un véhicule en avant (60) qui est présent dans la direction d'avance du véhicule (10), sur la base d'un temps de collision Ta qui est un temps requis pour que le véhicule (10) entre en collision avec le véhicule en avant (60). Une unité de calcul de quantité de changement transversal (23) détecte une vitesse transversale relative Vy, qui est une quantité d'un changement relatif dans le temps entre le véhicule (10) et le véhicule en avant (60). Une unité de mémorisation (40) mémorise un temps de braquage T1, qui est un temps requis pour que le véhicule (10) braque pour éviter le véhicule en avant (60). L'unité de mémorisation (40) mémorise un seuil de mise en oeuvre TH1, qui est un seuil pour déterminer, sur la base de la vitesse transversale relative Vy, une mise en oeuvre de l'assistance à la conduite. Lorsque la vitesse transversale relative Vy, à un instant où le temps de collision Ta est supérieur ou égal au temps de braquage T1, est supérieure ou égale au seuil de mise en oeuvre TH1, une unité de gestion d'assistance (50) réduit la mise en oeuvre de l'assistance à la conduite.
PCT/JP2012/077712 2012-10-26 2012-10-26 Dispositif d'assistance à la conduite et procédé d'assistance à la conduite WO2014064831A1 (fr)

Priority Applications (9)

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EP12887126.6A EP2913811B1 (fr) 2012-10-26 2012-10-26 Dispositif d'assistance à la conduite et procédé d'assistance à la conduite
CN201280076566.1A CN104781866B (zh) 2012-10-26 2012-10-26 驾驶辅助装置及驾驶辅助方法
BR112015009456-2A BR112015009456B1 (pt) 2012-10-26 2012-10-26 Dispositivo de suporte de direcionamento e método de suporte de direcionamento
MYPI2015701242A MY173922A (en) 2012-10-26 2012-10-26 Driving support device and driving support method
KR1020157010382A KR101759804B1 (ko) 2012-10-26 2012-10-26 운전 지원 장치 및 운전 지원 방법
US14/438,026 US9682703B2 (en) 2012-10-26 2012-10-26 Driving support device and driving support method
JP2014543098A JP6036839B2 (ja) 2012-10-26 2012-10-26 運転支援装置及び運転支援方法
PCT/JP2012/077712 WO2014064831A1 (fr) 2012-10-26 2012-10-26 Dispositif d'assistance à la conduite et procédé d'assistance à la conduite
RU2015115697/11A RU2605812C2 (ru) 2012-10-26 2012-10-26 Устройство помощи при вождении и способ помощи при вождении

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JP2022113461A (ja) * 2021-01-25 2022-08-04 ダイハツ工業株式会社 車両用制御装置
JP7325920B2 (ja) 2021-01-25 2023-08-15 ダイハツ工業株式会社 車両用制御装置
JP2023027764A (ja) * 2021-08-17 2023-03-02 トランスポーテーション アイピー ホールディングス，エルエルシー 車両制御システムおよび方法
CN114148326A (zh) * 2021-11-23 2022-03-08 重庆长安汽车股份有限公司 集成式自适应巡航***智慧偏移控制方法、***、车辆及存储介质
CN114148326B (zh) * 2021-11-23 2023-08-22 重庆长安汽车股份有限公司 集成式自适应巡航***智慧偏移控制方法、***、车辆及存储介质

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BR112015009456A2 (pt) 2017-07-04
JP6036839B2 (ja) 2016-11-30
US20150291158A1 (en) 2015-10-15
CN104781866A (zh) 2015-07-15
CN104781866B (zh) 2017-07-14
RU2605812C2 (ru) 2016-12-27
JPWO2014064831A1 (ja) 2016-09-05
US9682703B2 (en) 2017-06-20
EP2913811A4 (fr) 2016-03-16
EP2913811B1 (fr) 2019-05-22
EP2913811A1 (fr) 2015-09-02

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